Séminaire de Ravi N. Banavar

Date : 19/12/2022
Catégorie(s) : ,
Lieu : Salle des séminaires (L2S)

– Salle des séminaires (L2S)

A Geometric PID Control law for Stabilization of Nonholonomic Mechanical Systems on Lie Groups

Ravi N. Banavar (IIT Bombay, India)

Abstract. The PID controller is an elegant and versatile controller for set point tracking in double integrator systems evolving on Euclidean spaces. Since mechanical systems are typically constrained interconnections of rigid bodies whose configuration space is $\mathbb{​​​​SE}​​​​(3)$, which is not even topologically Euclidean, a geometric PID controller has been developed for mechanical systems evolving on Lie groups. In this work, we build upon the previously established framework for unconstrained mechanical systems to address systems with nonholonomic constraints. It encompasses many practically applicable mechanical systems encountered in robotics since robots are constrained interconnections of rigid bodies, where the constraints could either be holonomic or nonholonomic.
(Work done in collaboration with Rama Seshan C., Arun Mahindrakar and D. H. S. Maithripala)

Biography. Ravi N. Banavar received his B.Tech. in Mechanical Engineering from IIT Madras (1986), his Masters (Mechanical, 1988) and Ph.D. (Aerospace, 1992) degrees from Clemson University and the University of Texas at Austin, respectively. He had a brief teaching stint at UCLA in 1991–92, soon after which he joined the Systems and Control Engineering group at IIT Bombay in early 1993. During his tenure as the Convener of the group, from 2009 onwards, the strength of the group grew from 5 to 9 members, with academic strengths in nonlinear control, switched systems, optimization, geometric mechanics, formation and cooperative control, robotics and adaptive control. He has spent a few sabbatical breaks during the years at UCLA (Los Angeles), IISc (Bangalore) and LSS (Supelec, France). His research interests are broadly in the field of geometric mechanics, nonlinear and optimal control, with applications to electromechanical and aerospace engineering problems. He is an Associate Editor of the Elsevier journal, Systems and Control Letters, on the Editorial Advisory Board of the Taylor and Francis publication, The International Journal of Control, and a Technical Associate Editor of the IEEE Control Systems Society magazine.